WO2023050222A1 - Procédé de commande de lame, procédé de commande de fauchage, dispositif de commande et robot de fauchage - Google Patents

Procédé de commande de lame, procédé de commande de fauchage, dispositif de commande et robot de fauchage Download PDF

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Publication number
WO2023050222A1
WO2023050222A1 PCT/CN2021/121938 CN2021121938W WO2023050222A1 WO 2023050222 A1 WO2023050222 A1 WO 2023050222A1 CN 2021121938 W CN2021121938 W CN 2021121938W WO 2023050222 A1 WO2023050222 A1 WO 2023050222A1
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WIPO (PCT)
Prior art keywords
mowing
information
target
height
robot
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PCT/CN2021/121938
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English (en)
Chinese (zh)
Inventor
邹伟
王健
靳思宇
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广东美的白色家电技术创新中心有限公司
美的集团(上海)有限公司
美的集团股份有限公司
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Application filed by 广东美的白色家电技术创新中心有限公司, 美的集团(上海)有限公司, 美的集团股份有限公司 filed Critical 广东美的白色家电技术创新中心有限公司
Priority to PCT/CN2021/121938 priority Critical patent/WO2023050222A1/fr
Priority to CN202180102904.3A priority patent/CN118076222A/zh
Publication of WO2023050222A1 publication Critical patent/WO2023050222A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/74—Cutting-height adjustment

Definitions

  • the present application relates to but not limited to the technical field of mowing equipment, and in particular relates to a control method of a knife, a control method of mowing, a control device and a mowing robot.
  • an adjustable mowing height is generally set according to user needs.
  • the current lawn mowing robot products on the market only support manual and mechanical adjustment of the cutterhead height.
  • some products can be operated through the mobile APP to adjust the height of the cutter head electrically.
  • the user needs to intervene to determine and adjust the mowing height through subjective operations, and the degree of intelligence is not high.
  • a control method for mowing knives comprising: determining a target mowing height, the target mowing height is determined at least according to the environmental information of the environment where the mowing robot is located; The mowing height is adjusted.
  • a mowing control method comprising: after the mowing robot is turned on or enters the mowing mode, the mowing height of the mowing cutter is adjusted according to the control method of the mowing cutter as described in the above embodiment; the mowing robot A mowing operation is performed according to the adjusted mowing height.
  • a mowing control method applied to a server includes: the server receives a request for environmental information or part of the environmental information sent by a mowing robot; the server inquires about the mowing After the environmental information or part of the environmental information of the environment where the grass robot is located, a response is returned to the mowing robot, and the response carries the queried environmental information or part of the environmental information; or , the server receives the request for the mowing height sent by the mowing robot; after the server inquires about the environment information of the mowing robot's environment, it calculates the target mowing height of the mowing robot; The server returns a response to the mowing robot, and the response carries the target mowing height; wherein, the environmental information includes at least one of season information, climate information, temperature information, and humidity information.
  • a control device for a lawn mowing robot comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, when the computer program is executed by the processor, the above-mentioned embodiments can be realized The steps of the control method of the mowing cutter described in.
  • a lawn mowing robot comprising the control device of the lawn mowing robot described in the above embodiments.
  • Fig. 1 is a schematic flowchart of a method for controlling a mowing knife provided by an embodiment of the present disclosure
  • Fig. 2 is a partial flowchart of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 3 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 4 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 5 is a partial flow diagram of a control method of a mower provided by an embodiment of the present disclosure
  • Fig. 6 is a partial flow diagram of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 7 is a partial flowchart of a method for controlling a mower provided by an embodiment of the present disclosure
  • Fig. 8 is a partial flowchart of a control method of a mowing knife provided by an embodiment of the present disclosure
  • Fig. 9 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 10 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 11 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 12 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 13 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure
  • Fig. 14 is a schematic flowchart of a mowing control method provided by an embodiment of the present disclosure.
  • Fig. 15 is a schematic block diagram of a control device of a mowing robot provided by an embodiment of the present disclosure
  • Fig. 16 is a schematic diagram of the workflow of the mowing robot provided by an embodiment of the present disclosure.
  • one embodiment of the present application provides a method for controlling a mower, including:
  • Step S102 Determine the target mowing height, the target mowing height is determined at least according to the environmental information of the environment where the mowing robot is located;
  • Step S104 Adjust the mowing height of the mowing cutter according to the target mowing height.
  • the control method of the mowing cutter provided by the embodiment of the present application can first determine the target mowing height, and then automatically adjust the mowing height of the mowing robot according to the target mowing height, without user intervention, and adjust the mowing height through subjective operation.
  • the height of the grass is high, so the degree of intelligence is high, which is conducive to improving the user experience.
  • the target mowing height is also closely related to the environmental information of the environment, so the environmental information of the mowing robot’s environment can be used as the basis for determining the target mowing height. At least one judgment basis. Therefore, the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located, which is conducive to determining a suitable target mowing height, which in turn is conducive to improving the maintenance effect on the lawn and improving the user experience.
  • the control method of the mowing cutter can be realized by the control device of the mowing robot.
  • the control method of the lawn mowing knife can also be implemented by a terminal device (such as a mobile phone), and the terminal device is connected to the lawn mowing robot through communication.
  • the control device of the mowing robot may automatically adjust the mowing height of the mowing knife after determining the target mowing height, or the terminal device may electrically adjust the mowing height after determining the mowing height of the mowing knife The cutting height of the cutter. In either case, there is no need for the user to intervene to subjectively determine the mowing tool, thus improving the intelligence of the mowing robot and improving user experience.
  • the mowing robot includes a mowing cutter, and the height of the mowing cutter from the ground is the mowing height of the mowing cutter.
  • the mowing robot of the present disclosure can also be a new category developed on the basis of traditional lawn mowers, which can autonomously complete the work of mowing the lawn without direct control and operation by humans.
  • the mowing robot can have functions such as automatic mowing, cleaning grass clippings, automatic rain shelter, automatic walking, automatic obstacle avoidance, electronic virtual fence, automatic return charging, network control, etc., suitable for home gardens, public green spaces and other places. Lawn mowing and maintenance. Therefore, the mowing robot not only has the advantages of simple operation and high mowing efficiency, but also can automatically complete the mowing task, reducing labor costs and time costs, and also has the advantages of safety, no noise, and high degree of intelligence. It has become the lawn mower industry. main direction of development.
  • determining the target mowing height includes:
  • Step S202 Networking to obtain environmental information
  • Step S204 Determine the target mowing height according to the environment information.
  • determining the target mowing height includes:
  • Step S302 Obtain part of the environmental information through networking
  • Step S304 Determine the target mowing height according to part of the environmental information acquired online and the rest of the environmental information acquired locally.
  • the lawnmowing robot can obtain all the required environmental information through the network, or obtain part of the required environmental information through the network, while other environmental information can be obtained locally. Then the mowing robot locally calculates the target mowing height by itself at least according to the above environmental information.
  • the solution obtains at least part of the environmental information through reasonable use of the network, which is beneficial to reduce the environmental information detection devices that the mowing robot needs to configure, thereby simplifying the structure of the mowing robot and reducing the cost of the mowing robot.
  • the mowing robot can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • calculation in “calculating the target mowing height” refers to calculation in a broad sense, that is, the target mowing height is obtained by running a computer program.
  • acquiring environmental information or part of the environmental information online includes:
  • Step S402 Send a request to the server to obtain the environment information or part of the information in the environment information through the network;
  • Step S404 receiving the environment information or part of the environment information sent by the server in response to the request.
  • obtaining environmental information or part of the information in the environmental information online includes:
  • Step S502 Receive the environment information or part of the environment information automatically pushed by the server through the network.
  • the manner in which the mowing robot obtains at least part of the environmental information through the network may be to send a request to the server for obtaining the required environmental information through the network.
  • the mowing robot sends a request it also provides basic information (such as location information and identification information) to the server.
  • the location information facilitates the server to query the local environmental data through the network to obtain the required environmental information.
  • the identification information can indicate that the mowing robot is a legitimate terminal).
  • the server can obtain the environmental information of the mowing robot's environment through network query, or obtain the environmental information of the mowing robot's environment through its own database, and then send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • the mowing robot can also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it automatically pushes at least part of the environmental information of its environment to the mowing robot.
  • the network may be the Internet of Things or a mobile network.
  • the server may be a network server, and mobile terminals such as mobile phones may also act as servers.
  • determining the target mowing height includes:
  • Step S600 Obtain the target mowing height determined by the server through networking.
  • the server obtains the environment information of the environment where the mowing robot is located and performs calculations for the target mowing height, and the mowing robot only needs to obtain the above-mentioned target mowing height through the Internet, and only performs the operation of adjusting the mowing height locally. Calculation of the target mowing height is not performed. Therefore, this scheme determines the target mowing height by reasonable use of network acquisition, and the mowing robot does not need to be equipped with an environmental information detection device, nor does it need to be configured with a target mowing height calculation program, which is conducive to simplifying the structure and power of the mowing robot. control program, which is beneficial to further reduce the cost of mowing robots.
  • the server can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • the target mowing height determined by the server is obtained online, including:
  • Step S702 Send a request for obtaining the target mowing height to the server through the network;
  • Step S704 Receive the target mowing height sent by the server in response to the request.
  • the target mowing height determined by the server is obtained online, including:
  • Step S802 Receive the target mowing height automatically pushed by the server through the network.
  • the method for the mowing robot to obtain the target mowing height through the network may be to send a request to the server for obtaining the target mowing height through the network.
  • the mowing robot sends a request, it also provides basic information (such as location information and identification information) to the server.
  • the location information facilitates the server to query the local environmental data through the network to obtain the required environmental information.
  • the identification information can indicate that the mowing robot is a legitimate terminal).
  • the server can obtain the environmental information of the environment where the mowing robot is located through network query, and then at least determine the target mowing height according to the above environmental information, and send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • the mowing robot can also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it can get some basic information of the mowing robot (such as location information, which is convenient for the server to query local environmental data through the network or its own database to obtain the required environmental information), Then obtain the environmental information of the mowing robot's environment through network query or its own database, and then at least calculate the target mowing height based on the above environmental information, and automatically push the target mowing height to the mowing robot through the network.
  • some basic information of the mowing robot such as location information, which is convenient for the server to query local environmental data through the network or its own database to obtain the required environmental information
  • determining the target mowing height includes:
  • Step S902 Acquiring environmental information locally, the environmental information is stored in local configuration information and/or stored in historical data recorded locally;
  • Step S904 Determine the target mowing height according to the environment information.
  • the mowing robot can be configured with an environment information detection device, and the environment information can be saved in the locally recorded historical data through detection.
  • the local configuration information can also be set manually or through networking, and the environment information can be directly saved in the local configuration information.
  • environmental information can include season information, and the season can be recorded by the local clock module, just like the date is still recorded when the mobile phone is turned off. In this way, the mowing robot can obtain seasonal information even if it is not connected to the Internet.
  • Environmental information can also include climate conditions, and climate conditions can be configured once. For example, when you use the network for the first time, you can get the local climate category according to your location, and then update it if there is a cross-regional location change, otherwise you don’t need to update it.
  • Environmental information may also include temperature information and humidity information. Temperature and humidity can be recorded locally (mowing robots can be equipped with thermometers and hygrometers).
  • the environment information includes at least one of season information, climate information, temperature information, and humidity information.
  • the trimming height of the lawn is closely related to environmental conditions such as season, climate, temperature, and humidity. Therefore, environmental information may include, but not limited to, seasonal information, climate information, temperature information, and humidity information.
  • the mowing height of common lawns is generally lower in cool seasons (such as autumn and winter) than in high temperature seasons (such as summer). Therefore, seasonal information can be used as a basis for determining the target mowing height.
  • climate information can be used as a judgment basis for determining the target mowing height.
  • the trimming height of common lawns in high-temperature and high-humidity environments is higher than that in low-temperature and low-humidity environments. Therefore, temperature information and humidity information can also be used as a judgment basis for determining the target mowing height.
  • the season information includes at least one of the following: category, month, and date of the season.
  • Seasonal information may be categories of seasons, such as spring, summer, autumn, and winter. Since the month or the date has a corresponding relationship with the season, the seasonal information may also be the month or the date. Regardless of the category, month or date of the season, it can correspond to a suitable mowing height of the lawn, so the category, month or date of the season can be used as the basis for determining the target mowing height.
  • the season has the greatest influence on the target mowing height. Therefore, the reference mowing height to be mowed can be determined according to the season, and then according to the influence of climate, temperature, and humidity on the mowing height, the target mowing height can be determined by floating up and down on the basis of the reference mowing height.
  • the reference trimming height (unit: cm) of common lawn grasses is as follows:
  • Creeping bentgrass is 0.3-1.3 in cool season and 0.5-2.0 under high temperature stress;
  • Bentgrass slender is 0.76-2.0 in cool season, and 1.3-2.0 under high temperature stress;
  • Bentgrass tomentosa is 0.5-2.0 in cool season and 1.3-2.0 under high temperature stress
  • Bluegrass is 3.8-5.7 in cool season and 5.7-7.6 under high temperature stress
  • Perennial ryegrass is 3.8-5.1 in cool season and 5.1-7.6 under high temperature stress;
  • Reed fescue is 4.4-7.6 in cool season and 6.4-8.9 under high temperature stress;
  • Fescue is 1.3-5.1 in cool season and 3.8-7.6 under high temperature stress
  • Purple fescue is 3.5-6.3 in cool season and 3.8-7.6 under high temperature stress;
  • Hard fescue is 2.5-6.4 in cool season and 3.8-7.6 under high temperature stress;
  • Brome without awns is 7.6-15.2 in cool season and 6.4-8.9 under high temperature stress;
  • Agropyron is 3.8-6.4 in cool season and 6.4-8.9 under high temperature stress.
  • the climate information includes at least one of the following: a category of climate, and an influence value of climate on the target mowing height.
  • the climate information may be a category of climate, such as tropical monsoon climate, subtropical monsoon climate, temperate zone monsoon climate, temperate continental climate, alpine and plateau climate, and the like. Different climates have different characteristics of cold, warm, dry, and wet. In the same season, they will have different effects on the mowing height of the lawn. Therefore, the category of climate can be used as the judgment basis for determining the target mowing height. For example: the summer target mowing height is set to 5cm, and the winter target mowing height is set to 2cm.
  • the climate information may also be the influence value of the climate on the target mowing height.
  • the target mowing height can be estimated according to the seasonal information, and then combined with the influence value of the climate on the target mowing height to determine the target mowing height.
  • the influence value of climate on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of climate in the same season.
  • the reference mowing height in winter in China is set to 2cm
  • the influence value of tropical monsoon climate and subtropical monsoon climate on the target mowing height is 1cm to 2cm
  • the influence value of temperate monsoon climate on the target mowing height is 0. Therefore, in winter in Guangdong and other places in southern China, the target mowing height is set at 3cm-4cm, while in northern China (such as Beijing) the target mowing height in winter is still 2cm.
  • the temperature information includes at least one of the following: a temperature category, and an influence value of temperature on the target mowing height.
  • the temperature information may be a temperature category, and the temperature category may be divided into levels according to the average temperature of each day. For example, the average temperature between 0°C and 10°C is classified as a low temperature category, 11°C to 20°C is classified as a medium temperature category, and 21 to 30°C is classified as a high temperature category. In the same season, due to the difference in temperature, the mowing height of the lawn is different, and the target mowing height under different temperature categories can be appropriately increased with the increase of temperature.
  • the temperature information may also be an influence value of temperature on the target mowing height.
  • the influence value of temperature on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of temperature in the same season.
  • the reference pruning height in winter in China is set at 2cm.
  • the influence value of low temperature on the target mowing height is 0, then the target mowing height in winter in this area is 2cm.
  • the influence value of medium temperature on the target mowing height is 1cm, so the target mowing height in winter in this area is 3cm.
  • the effect value of high temperature on the target mowing height is 2cm, so the target mowing height in winter in this area is 4cm.
  • the humidity information includes at least one of the following: a humidity category, and an influence value of humidity on the target mowing height.
  • the humidity information may be a humidity category, and the humidity category may be classified into intervals according to rainfall. For example, the annual rainfall below 200 mm is classified as arid, the annual rainfall between 200 mm and 400 mm is classified as semi-arid, the annual rainfall between 400 mm and 800 mm is classified as semi-humid, and the annual rainfall above 800 mm is classified as semi-humid. wet category.
  • the mowing height of the lawn is different, and the target mowing height under different humidity categories can be appropriately increased with the increase of humidity.
  • the humidity information may also be an influence value of humidity on the target mowing height.
  • the influence value of humidity on the target mowing height refers to the floating value of the target mowing height based on the reference mowing height of the season caused by different types of humidity in the same season.
  • the reference pruning height in winter in China is set at 2cm.
  • the impact value of drought and semi-arid on the target mowing height is 0, then the target mowing height in winter in this area is 2cm.
  • the influence value of semi-humidity on the target mowing height is 1cm, so the target mowing height in winter in this area is 3cm.
  • the influence value of humidity on the target mowing height is 2cm, so the target mowing height in winter in this area is 4cm.
  • the environment information includes season information.
  • the way of obtaining seasonal information includes at least one of the following:
  • the seasonal information can be obtained through the network
  • the category of the current season can be obtained directly through the network
  • the current month or date can also be obtained through the network.
  • the season information can also be obtained through local query, that is, through the time recording device configured by the mowing robot, such as obtaining the current month or date through the time recording device, and then determining the category of the current season according to the current month or date.
  • seasonal information can also be obtained by receiving external input.
  • the user can input the category of the current season through voice, text, and other means.
  • the mowing robot provides seasonal information options, and the user can select the corresponding options.
  • the environmental information includes climate information.
  • the way to obtain climate information includes at least one of the following:
  • climate information determined by the server based on the geographic location of the environment where the mowing robot is located;
  • the climate information can be obtained through the network, the category of the current climate can be obtained directly through the network, and the influence value of the current climate on the target mowing height can also be obtained through the network.
  • the server can determine the climate information of the environment where the mowing robot is located through the network or its own database according to the geographic location of the environment where the mowing robot is located. Wherein, the geographic location can be obtained by querying the positioning server, or can be determined according to the base station through which the mowing robot sends the request.
  • climate information can also be obtained by receiving external input.
  • users can input the climate information of the environment where the mowing robot is located through voice, text, etc.
  • the mowing robot provides climate information options, and the user can select the corresponding options.
  • the environmental information includes temperature information.
  • the way of obtaining temperature information includes at least one of the following:
  • the temperature of the environment where the mowing robot is located can be detected and recorded by a temperature detection device (such as a temperature sensor), and then the average temperature can be calculated to obtain the temperature category.
  • a temperature detection device such as a temperature sensor
  • the network can update the temperature information in real time
  • the temperature of the environment where the mowing robot is located can also be obtained through networking. Therefore, the temperature information can also be obtained through networking, the category of the current temperature can be obtained directly through the network, and the influence value of the current temperature on the target mowing height can also be obtained through the network.
  • the temperature information can also be obtained by receiving an external input.
  • the user can input the temperature category of the environment where the mowing robot is located or the influence value of the temperature on the target mowing height through voice, text, etc.
  • the mowing robot provides temperature information options, and the user can select the corresponding option.
  • the environmental information includes humidity information.
  • the way of obtaining the humidity information includes at least one of the following:
  • the humidity of the environment where the mowing robot is located can be detected and recorded by a humidity detection device (such as a humidity sensor), and then the average humidity can be calculated to obtain the humidity category.
  • a humidity detection device such as a humidity sensor
  • the network can update the humidity or rainfall in real time
  • the humidity of the environment where the mowing robot is located can also be obtained through networking. Therefore, the humidity information can also be obtained through networking, the category of the current humidity can be obtained directly through the network, and the influence value of the current humidity on the target mowing height can also be obtained through the network.
  • the humidity information can also be obtained by receiving external input.
  • the user can input the humidity category of the environment where the mowing robot is located or the influence value of humidity on the target mowing height through voice, text, etc.
  • the mowing robot provides humidity information options, and the user can select the corresponding option.
  • the target mowing height increases as the ambient temperature increases.
  • the target mowing height increases as the ambient humidity increases.
  • control method further includes: acquiring the type of grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the type of grass to be mowed.
  • the target mowing height can be determined according to the environmental information of the environment where the mowing robot is located, combined with the type of grass to be mowed, so that the lawn can be maintained more reasonably.
  • the mowing robot or server can pre-set some preset mowing heights that match the environmental information and the type of grass to be mowed.
  • the preset mowing height matching the current environmental information and the type of grass to be mowed can be selected as the target mowing height .
  • the pruning height of fescue in the cool season is 1.3cm to 5.1cm, while the pruning height of awnless brome is 7.6cm to 15.2cm in the cool season.
  • the method of obtaining the type of grass to be mowed includes at least one of the following:
  • This solution uses image recognition technology to obtain the type of grass to be mowed, with a high degree of automation.
  • the type of grass to be mowed can also be obtained by receiving external input.
  • the user can input the type of grass to be mowed by voice or text.
  • the lawn mowing robot provides options for types of grass to be mowed, and the user can select the corresponding option.
  • control method also includes: acquiring the usage of the grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the use of the grass to be mowed.
  • the target mowing height can be determined according to the environmental information of the environment where the mowing robot is located and in combination with the use of the grass to be mowed, so that the lawn can be maintained more reasonably.
  • the mowing robot or server can pre-set some preset mowing heights that match the environmental information and the usage of the grass to be mowed.
  • the preset mowing height matching the current environmental information and the use of the lawn to be mowed can be selected as the target mowing height .
  • lawns used for landscaping generally have a higher mowing height than lawns used for football fields.
  • the use of the grass to be mowed can be acquired through user input, or can be acquired through the Internet.
  • an embodiment of the present application also provides a mowing control method applied to a mowing robot, and the mowing control method includes:
  • Step S1002 After the mowing robot is turned on or enters the mowing mode, adjust the mowing height of the mowing blade according to the control method of the mowing blade;
  • Step S1004 the mowing robot executes the mowing operation according to the adjusted mowing height.
  • control method of the mowing knife is the control method of the mowing knife as described in any one of the above-mentioned embodiments, so it has all the beneficial effects of any of the above-mentioned embodiments, and will not be repeated here.
  • An embodiment of the present application also provides a control device for a mowing robot, including:
  • the determination module is configured to determine the target mowing height, and the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located;
  • the adjustment module is configured to adjust the mowing height of the mowing cutter according to the target mowing height.
  • the control device of the mowing robot provided in the embodiment of the present application can first determine the target mowing height, and then automatically adjust the mowing height of the mowing cutter according to the target mowing height, without user intervention, and adjust the mowing height through subjective operation.
  • the height of the grass is high, so the degree of intelligence is high, which is conducive to improving the user experience.
  • the target mowing height is also closely related to the environmental information of the environment, so the environmental information of the mowing robot’s environment can be used as the basis for determining the target mowing height. At least one judgment basis. Therefore, the target mowing height is at least determined according to the environmental information of the environment where the mowing robot is located, which is conducive to determining a suitable target mowing height, which in turn is conducive to improving the maintenance effect on the lawn and improving the user experience.
  • the determination module includes: an online acquisition unit and a determination unit.
  • the network acquisition unit is configured to: acquire environment information through the network.
  • the determination unit is configured to: determine the target mowing height at least according to the environment information.
  • the determination module includes: a network acquisition unit, a local acquisition unit and a determination unit.
  • the network acquisition unit is configured to: acquire part of the environmental information through the network.
  • the local obtaining unit is set to: obtain the remaining information in the environment information locally.
  • the determination unit is configured to: determine the target mowing height according to part of the environmental information obtained from the Internet and the rest of the environmental information obtained locally.
  • the networking acquisition unit is configured to: send a request to acquire at least part of the environment information (ie, the environment information or part of the information in the environment information) to the server through the network, and receive at least a part of the environment information (ie, the environment information) sent by the server in response to the request. information or part of the information in the environmental information).
  • the network acquisition unit is configured to: receive at least part of the environment information (ie, the environment information or part of the information in the environment information) automatically pushed by the server through the network.
  • the determination module includes a network acquisition module; the network acquisition module is configured to: network obtain the target mowing height determined by the server.
  • the networking obtaining module is configured to: send a request for obtaining the target mowing height to the server through the network, and receive the target mowing height sent by the server in response to the request.
  • the network acquisition module is configured to: receive the target mowing height automatically pushed by the server through the network.
  • the determination module includes: a local acquisition unit and a determination unit.
  • the local acquisition unit is configured to: acquire the environment information locally, and the environment information is stored in the local configuration information and/or stored in the historical data of the local records.
  • the determination unit is set to: determine the target mowing height according to the environmental information.
  • the environment information includes at least one of season information, climate information, temperature information, and humidity information.
  • the season information includes at least one of the following: category, month, and date of the season.
  • the climate information includes at least one of the following: a category of climate, and an influence value of climate on the target mowing height.
  • the temperature information includes at least one of the following: a temperature category, and an influence value of temperature on the target mowing height.
  • the humidity information includes at least one of the following: a humidity category, and an influence value of humidity on the target mowing height.
  • the environment information includes season information.
  • the control device includes a season information acquisition module, and the season information acquisition module includes at least one of the following:
  • the network acquisition unit is configured to obtain seasonal information through the network
  • a local acquisition unit configured to acquire seasonal information through a time recording device
  • the receiving unit is configured to receive externally input seasonal information.
  • the environmental information includes climate information.
  • the control device includes a climate information acquisition module, and the climate information acquisition module includes at least one of the following:
  • the network acquisition unit is configured to network to obtain climate information determined by the server according to the geographic location of the environment where the mowing robot is located;
  • the receiving unit is configured to receive externally input climate information.
  • the environment information includes temperature information.
  • the control device includes a temperature information acquisition module, and the temperature information acquisition module includes at least one of the following:
  • a local acquisition unit configured to acquire temperature information detected by the temperature detection device
  • the network acquisition unit is configured to obtain temperature information through the network
  • the receiving unit is configured to receive temperature information input from the outside.
  • the environmental information includes humidity information.
  • the control device includes a humidity information acquisition module, and the humidity information acquisition module includes at least one of the following:
  • a local acquisition unit configured to acquire humidity information detected by the humidity detection device
  • the network acquisition unit is configured to obtain humidity information through the network
  • the receiving unit is configured to receive externally input humidity information.
  • control device further includes: a first acquisition module configured to acquire the type of grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the type of grass to be mowed.
  • the first acquisition module includes: an acquisition unit, a comparison unit and a determination unit.
  • the acquisition unit is configured to acquire images of grass to be mowed.
  • the comparison unit is configured to compare the image to be mowed with the images in the preset image library.
  • the determination unit is configured to determine the image of the grass to be mowed according to the comparison result.
  • the first acquisition module includes: a receiving unit configured to receive an external input of the type of grass to be mowed.
  • control device further includes: a second acquisition module configured to acquire the usage of the grass to be mowed.
  • the target mowing height is determined based on at least environmental information and the use of the grass to be mowed.
  • the second acquiring module includes: a receiving unit configured to receive an externally input usage of the grass to be mowed.
  • the second obtaining module includes: a network obtaining unit configured to obtain the use of the grass to be mowed online.
  • an embodiment of the present application also provides a mowing control method applied to a server, and the mowing control method includes:
  • Step S1102 the server receives a request for environmental information or part of the environmental information sent by the mowing robot;
  • Step S1104 After the server inquires the environmental information or part of the environmental information of the environment where the mowing robot is located, it returns a response to the mowing robot, carrying the queried environmental information or part of the environmental information in the response.
  • the server may receive a request for acquiring at least part of the environment information (at least part of the environment information, that is, the environment information or part of the information in the environment information) sent by the mowing robot through the network.
  • some basic information such as location information and identification information is also obtained.
  • the location information is convenient for the server to query the local environmental data through the network or its own database to obtain the required environmental information.
  • the identification information can indicate that the Mowing robots are legal endpoints).
  • the server can obtain at least part of the environmental information of the mowing robot's environment through the network or its own database query, and then send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • an embodiment of the present application also provides a mowing control method, including:
  • Step S1202 Detecting that the mowing robot is started
  • Step S1204 Push at least part of the environmental information of the environment where the mowing robot is located to the mowing robot through the network.
  • the mowing robot may also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it automatically pushes at least part of the environmental information of its environment to the mowing robot.
  • the lawn mowing robot acquires at least part of the environmental information by rationally using the network, which is beneficial to reduce the environmental information detection devices that the lawn mowing robot needs to configure, thereby helping to simplify the structure of the lawn mowing robot and reduce the environmental impact of the lawn mowing robot. the cost of.
  • the mowing robot can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • an embodiment of the present application also provides a mowing control method applied to a server, and the mowing control method includes:
  • Step S1302 the server receives a request from the mowing robot to obtain the target mowing height
  • Step S1304 The server calculates the target mowing height of the mowing robot after querying the environment information of the mowing robot's environment;
  • Step S1306 the server returns a response to the mowing robot, and the response carries the target mowing height.
  • the environmental information includes at least one of seasonal information, climate information, temperature information, and humidity information.
  • the server may receive the request for obtaining the target mowing height sent by the mowing robot through the network.
  • the mowing robot sends a request, it also provides the server with basic information (such as location information and identification information.
  • the location information facilitates the server to query the local environmental data through the network or its own database to obtain the required environmental information.
  • the identification information can indicate The mowing robot is a legal terminal).
  • the server can obtain the environmental information of the environment where the mowing robot is located through the network or its own database query, and then at least determine the target mowing height based on the above environmental information, and send it to the mowing robot through the network.
  • the mowing robot may trigger the sending of the above request when starting work.
  • an embodiment of the present application also provides a server control method, including:
  • Step S1402 detecting that the mowing robot is started
  • Step S1404 Determine the target mowing height at least according to the environmental information of the environment where the mowing robot is located;
  • Step S1406 Push the target mowing height to the mowing robot through the network.
  • the environmental information includes at least one of seasonal information, climate information, temperature information, and humidity information.
  • the mowing robot may also pre-subscribe to the corresponding push service of the server.
  • the server detects that the mowing robot is started, it can get some basic information of the mowing robot (such as location information, which is convenient for the server to query the local environmental data through the network to obtain the required environmental information), and then obtain the mowing robot through network query.
  • the environment information of the environment where the grass robot is located and then at least calculate the target mowing height based on the above environmental information, and automatically push the target mowing height to the mowing robot through the network.
  • the server obtains the environment information of the environment where the mowing robot is located and performs calculations for the target mowing height, while the mowing robot only needs to obtain the above-mentioned target mowing height through the Internet, and only executes the adjustment of the mowing height locally. operation instead of calculating the target mowing height. Therefore, this scheme determines the target mowing height by reasonable use of network acquisition, and the mowing robot does not need to be equipped with an environmental information detection device, nor does it need to be configured with a target mowing height calculation program, which is conducive to simplifying the structure and power of the mowing robot. control program, which is beneficial to further reduce the cost of mowing robots.
  • the server can pre-set some preset mowing heights that match the environmental information.
  • the environmental information of the environment where the mowing robot is located can be selected as the target mowing height which is preset and matches the current environmental information.
  • the environmental information requested by the mowing robot includes one or more of climate information, temperature information, and humidity information
  • the geographical location of the environment where the robot is located, and one or more information among the climate information, temperature information and humidity information of the environment where the mowing robot is located is obtained by querying the geographical location.
  • climate information, temperature information, and humidity information are closely related to the geographical location of the environment where the mowing robot is located, you can first query to obtain the geographical location of the environment where the mowing robot is located, and then obtain the location of the environment where the mowing robot is located.
  • climate information, temperature information, and humidity information One or more of climate information, temperature information, and humidity information.
  • an embodiment of the present application also provides a control device for a mowing robot, including a processor 1510, a memory 1520, and a computer program stored on the memory 1520 and operable on the processor 1510, the computer
  • the program When the program is executed by the processor, the steps of the method for controlling the lawnmowing robot in any one of the above embodiments are realized, thus having all the beneficial effects of any one of the above embodiments, which will not be repeated here.
  • An embodiment of the present application also provides a lawnmowing robot, including the above-mentioned control device for the lawnmowing robot, thus having all the beneficial effects of any of the above-mentioned embodiments, which will not be repeated here.
  • the lawn mowing robot also includes a lift drive mechanism and a cutter connected with the lift drive mechanism, and the cutter includes a cutter head and a blade connected with the cutter head.
  • the lifting drive mechanism is electrically connected with the control device, and drives the cutter to lift up and down under the control of the control device to adjust the mowing height of the mowing robot.
  • the height of the cutter from the ground is the mowing height of the mowing robot.
  • the lifting drive mechanism includes a lifting motor and a transmission mechanism.
  • the lifting motor can be a rotating motor.
  • the transmission mechanism includes a driving synchronous wheel, a synchronous belt, a driven synchronous wheel and a lifting screw.
  • the active synchronous wheel rotates synchronously with the output shaft of the lifting motor.
  • the synchronous belt is sheathed on the driving synchronous wheel and the driven synchronous wheel, and is used to drive the driven synchronous wheel to rotate under the drive of the driving synchronous wheel.
  • the driven synchronous wheel is sleeved on the lifting screw, and is connected with the lifting screw, and the lifting screw is connected with the cutting tool. When the driven synchronous wheel rotates, the lifting screw drives the cutting tool to go up and down, so as to realize the adjustment of the mowing height.
  • the lawn mowing robot also includes a driving device, which is connected with the cutter and is used to drive the cutter to rotate to realize the mowing operation.
  • the driving device may be a mowing motor.
  • the lifting motor is installed on the first support
  • the cutter motor is installed on the second support
  • the second support and the first support slide and cooperate along the up and down direction.
  • the second bracket is fixedly connected with the lifting nut, and the lifting nut is threadedly matched with the lifting screw.
  • the transmission mechanism is not limited to the above-mentioned forms, for example, a rack and pinion transmission mechanism can also be used to convert the rotation of the rotating motor into the lifting motion of the tool; or a gear pair can also be used to replace the cooperation of the synchronous wheel and the synchronous belt.
  • the lifting drive mechanism is not limited to the cooperation form of the above-mentioned lifting motor and transmission mechanism, for example, a linear motor may also be used for the lifting drive mechanism.
  • Step S1602 Obtain environmental information such as season, climate, temperature, humidity, etc. through the Internet;
  • Step S1604 Determine the target mowing height
  • Step S1606 Send a signal to the lifting motor, so that the lifting motor adjusts the height of the tool from the ground to the above-mentioned target mowing height;
  • Step S1608 Send a signal to the mowing motor, so that the mowing motor drives the cutter to rotate, and starts mowing the grass.
  • An embodiment of the present application also provides a computer-readable storage medium, where a computer program that can run on a processor is stored on the computer-readable storage medium, and when the computer program is executed by the processor, the following The steps of the server control method described in any one of the above embodiments.
  • An embodiment of the present application also provides a control device for a server, including a processor, a memory, and a computer program stored in the memory and operable on the processor, the computer program being executed by the processor When executed, the steps of the method for controlling the server as described in the foregoing embodiments are realized.
  • An embodiment of the present application further provides a server, including the server control device as described in the foregoing embodiments.
  • the functional modules/units in the system, and the device can be implemented as software, firmware, hardware, and an appropriate combination thereof.
  • the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be composed of several physical components. Components cooperate to execute.
  • Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.
  • Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
  • computer storage media includes both volatile and nonvolatile media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data. permanent, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridges, tape, magnetic disk storage or other magnetic storage devices, or can Any other medium used to store desired information and which can be accessed by a computer.
  • communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

L'invention concerne un procédé de commande pour une lame de fauchage, ledit procédé consistant à : déterminer une hauteur de fauchage cible, la hauteur de fauchage cible étant déterminée au moins sur la base d'informations environnementales de l'environnement dans lequel se trouve un robot de fauchage ; et régler la hauteur de fauchage d'une lame de fauchage sur la base de la hauteur de fauchage cible.
PCT/CN2021/121938 2021-09-29 2021-09-29 Procédé de commande de lame, procédé de commande de fauchage, dispositif de commande et robot de fauchage WO2023050222A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2021/121938 WO2023050222A1 (fr) 2021-09-29 2021-09-29 Procédé de commande de lame, procédé de commande de fauchage, dispositif de commande et robot de fauchage
CN202180102904.3A CN118076222A (zh) 2021-09-29 2021-09-29 刀具的控制方法、割草控制方法、控制装置及割草机器人

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PCT/CN2021/121938 WO2023050222A1 (fr) 2021-09-29 2021-09-29 Procédé de commande de lame, procédé de commande de fauchage, dispositif de commande et robot de fauchage

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CN105265089A (zh) * 2014-06-27 2016-01-27 罗伯特·博世有限公司 自主移动设备
CN109005865A (zh) * 2017-06-09 2018-12-18 安德烈·斯蒂尔股份两合公司 操作自主移动草坪割草机机器人的方法和草坪割草系统
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